MAVlink
6X Multispectral Sensor Integration Communication Protocol - MAVlink
Introduction
MAVLink is a very lightweight messaging protocol for communicating with drones, as well as between onboard drone components. It is a very commonly used protocol in the open source drone community.
6X OEM
6X supports image metadata tagging and sensor triggering using MAVLink V1 messages. The required serial port configuration for the MAVLink controller is 460800, 8-N-1, and it must be connected to 6X connector J2, pins 1/2 (UART2 TX/RX) with 3.3v signal levels.
6X Gimbal
The gimbaled 6X supports image metadata tagging and sensor triggering using MAVlink V2 messages. The MAVlink messages are ingested into the gimbal hardware and automatically forwarded to the 6X.
A custom camera configuration is generally required for MAVlink implementation with a gimbal. Contact support@sentera.com for more information.
MAVLink gimbal control/pointing is not supported at this time. The gimbal will only point straight down (NADIR) when powered on.
Messages
Image Metadata Messages
MAVLINK_MSG_ID_SYSTEM_TIME
MAVLINK_MSG_ID_GPS_RAW_INT
MAVLINK_MSG_ID_ATTITUDE
MAVLINK_MSG_ID_GLOBAL_POSITION_INT
Sensor Triggering Messages
MAVLINK_MSG_ID_COMMAND_LONG::MAV_CMD_DO_DIGICAM_CONTROL
PX4 Settings
| Parameter | Value | Description |
|---|---|---|
TRIG_INTERFACE | MAVlink | Sets MAVlink messages as the trigger commands. |
TRIG_MODE | Distance Based (Survey Mode) | Distance-based on command (Survey mode) |
MAV_X_CONFIG | TELEM2 (or any other configurable UART) | Sets the configuration of the desired MAVlink stream on a serial/UART port. |
MAV_X_RATE | 0 b/s | PX4 Default (half of theoretical max). |
MAV_X_MODE | Gimbal or Normal | Sets the set of MAVlink messages. |
MAV_X_FORWARD | Enable | Enables forwarding of MAVlink messages on the configured MAVlink stream. |
SER_X_BAUD | 460800 8N1 | Baudrate for the configured serial port. |
Ardupilot Settings
| Parameter | Value | Description |
|---|---|---|
SERIALX_BAUD | 460800 | Baudrate for configured serial port. |
SERIALX_PROTOCOL | MAVlink 1 | MAVlink protocol for configured serial port. |
SRX_EXTRA1 | 10 | Rate for attitude messages (10Hz). |
SRX_EXTRA3 | 2 | Rate for UTC time messages (2Hz). |
SRX_POSITION | 4 | Rate for GPS position messages (4Hz). |
SRX_EXT_STAT | 10 | MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT |
CAMX_TYPE | 5 | how to trigger the camera to take a picture |
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